Installing simulation environment » History » Revision 38
Revision 37 (Christophe Reymann, 2018-05-19 16:55) → Revision 38/49 (Christophe Reymann, 2018-05-19 16:56)
h1. Installing simulation environment
h2. Dependencies
* Python3 with setuptools, docopt, numpy, pyaml, rospkg, catkin_pkg
* Eigen3
* GDAL (version > 2)
* CMake
* OpenCV3
* libglew, libglew-dev
* ROS kinetic (on ubuntu: ros-kinetic-desktop ros-kinetic-tf2-eigen OR ros-kinetic-ros-base ros-kinetic-tf2-eigen ros-kinetic-opencv3 ros-kinetic-cv-bridge ros-kinetic-tf2-ros)
* Blender
* A c++14 compatible compiler
h2. On own computer
Make sure ROS environment is sourced, then:
<pre>
git clone ssh://git@redmine.laas.fr/laas/users/simon/agridrone/precidrones-main.git && cd precidrones-main/dev && rsync -r /net/skyscanner/volume1/data/precidrone/IGN . && make world
</pre>
And make sure to import the morse simulations before using them, for example (in the precidrones-main/dev folder):
<pre>
morse import morse/preci1
</pre>
h3. On LXD vm
Install and configure lxd:
<pre>
sudo snap install --edge lxd
sudo lxd init
</pre>
Lxd will ask for configuration, I used:
* clustering: no
* new storage pool: yes
* name: default
* type: zfs
* create new zfs pool: yes
* use existing block device: no
* size in GB of the new loop device: 40
* connect to a MAAS server: no
* create local network bridge: yes
* bridge name: lxdbr0
* ipv4 address: auto
* ipv6 address: auto
* LXD availqble over the network: yes
* address to bind lxd to: all
* port: 8443
* trust password: <password>
* auto update stale cached images: yes
* print YAML lxd preseed: yes
Creating the container:
<pre>
sudo lxc launch ubuntu:16.04 precidrone-sim
</pre>
Install nvidia container runtime (see github ):
<pre>
distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
curl -s -L https://nvidia.github.io/nvidia-container-runtime/$distribution/nvidia-container-runtime.list | sudo tee /etc/apt/sources.list.d/nvidia-container-runtime.list
sudo apt install nvidia-container-runtime
</pre>
Configuring the container *(check display number and adjust, eg X0 -> X1 for DISPLAY=:1; idem for nvidia-libs version number)*:
<pre>
sudo lxc config device add precidrone-sim nvgpu gpu
sudo lxc config set precidrone-sim nvidia.runtime true
sudo lxc config device add precidrone-sim nvidia-libs disk path=/usr/lib/nvidia-384 source=/usr/lib/nvidia-384
sudo lxc config device add precidrone-sim X0 disk path=/tmp/.X11-unix/X0 source=/tmp/.X11-unix/X0
sudo lxc config device add precidrone-sim Xauthority disk path=/home/ubuntu/.Xauthority source=${HOME}/.Xauthority
sudo lxc config device add precidrone-sim precidrone-simroot disk source=/net/skyscanner/volume1/data/precidrone path=/home/ubuntu/sim
printf "uid $(id -u) 1000\ngid $(id -g) 1000" | sudo lxc config set precidrone-sim raw.idmap -
sudo lxc restart precidrone-sim
</pre>
Then open shell in the container:
<pre>
sudo lxc exec precidrone-sim -- sudo -i -u ubuntu
</pre>
Installing dependencies:
<pre>
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt update
sudo apt install ros-kinetic-ros-base ros-kinetic-tf2-eigen ros-kinetic-opencv3 ros-kinetic-cv-bridge ros-kinetic-tf2-ros
sudo apt install python3-pip python3-setuptools python3-docopt python3-numpy python3-yaml
sudo pip3 install rospkg catkin_pkg
sudo apt install libglew1.13 libglew-dev
sudo apt install blender
</pre>
A GDAL >2 doesn't ship with ubuntu 16.04, you can do
<pre>
sudo add-apt-repository -y ppa:ubuntugis/ppa
sudo apt update
sudo apt install libgdal20 libgdal-dev
</pre>
If necessary compile sim source:
<pre>
cd sim/precidrones-main/dev
make DEVEL=t INSTALL_USER=t CMAKE_BUILD_TYPE=Release -j8
</pre>
Before running the simulation:
* Import morse simulation scenario, for example:
<pre>
morse import sim/precidrones-main/dev/morse/preci1
</pre>
* Export all necessary env variables display variable (check that it they are is the right one!) and source ros global and workspace setup (you can put it in the .bashrc or .profile):
<pre>
export DISPLAY=:0
export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/usr/lib/nvidia-384"
source /opt/ros/kinetic/setup.bash
source /home/ubuntu/sim/precidrones-main/dev/ros_workspace/devel/setup.bash
</pre>
Only one container has to be setup, then it can simply be copied across machines:
<pre>
TODO
</pre>